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 *
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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/

#ifndef EXPANDER_H
#define EXPANDER_H

#include <global_planner/potential_calculator.h>
//#include <global_planner/planner_core.h>

#define POT_HIGH 1.0e10        // unassigned cell potential

namespace global_planner
{
  class Expander
  {
      public:
          Expander(PotentialCalculator* p_calc, int nx, int ny);

          virtual ~Expander();

          virtual bool calculatePotentials(unsigned char* costs,
                                           double start_x, double start_y,
                                           double end_x, double end_y,
                                           int cycles, float* potential) = 0;

          virtual void setSafeControl(bool param) = 0;

          /**
           * @brief  Sets or resets the size of the map
           * @param nx The x size of the map
           * @param ny The y size of the map
           */
          /**< sets or resets the size of the map */
          virtual void setSize(int nx, int ny);

          void setLethalCost(unsigned char lethal_cost)
          {
              lethal_cost_ = lethal_cost;
          }

          void setNeutralCost(unsigned char neutral_cost)
          {
              neutral_cost_ = neutral_cost;
          }

          void setFactor(float factor)
          {
              factor_ = factor;
          }

          void setHasUnknown(bool unknown)
          {
              unknown_ = unknown;
          }

          void clearEndpoint(unsigned char* costs, float* potential, int gx, int gy, int s);

      protected:
          inline int toIndex(int x, int y)
          {
              return x + nx_ * y;
          }

          int nx_, ny_, ns_; /**< size of grid, in pixels */
          bool unknown_;
          unsigned char lethal_cost_, neutral_cost_;
          int cells_visited_;
          float factor_;
          PotentialCalculator* p_calc_;
  };

} //end namespace global_planner

#endif
